Semantic Segmentation on S3DIS Area5

Metric: mIoU (higher is better)

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#	Model↕	mIoU▼	Extra Data	Paper	Date↕	Code
1	Sonata + PTv3	76	Yes	Sonata: Self-Supervised Learning of Reliable Poi...	2025-03-20	Code
2	OmniVec	75.9	Yes	OmniVec: Learning robust representations with cr...	2023-11-07	-
3	D-DITR	75	Yes	DINO in the Room: Leveraging 2D Foundation Model...	2025-03-24	Code
4	PTv3 + PPT	74.7	Yes	Point Transformer V3: Simpler, Faster, Stronger	2023-12-15	Code
5	Swin3D-L	74.5	Yes	Swin3D: A Pretrained Transformer Backbone for 3D...	2023-04-14	Code
6	DeLA	74.1	No	Decoupled Local Aggregation for Point Cloud Lear...	2023-08-31	Code
7	DITR	74.1	No	DINO in the Room: Leveraging 2D Foundation Model...	2025-03-24	Code
8	Ours	73.6	No	-	-	-
9	ConDaFormer	73.5	No	ConDaFormer: Disassembled Transformer with Local...	2023-12-18	Code
10	LPFP(Point Transformer*)	73.5	No	-	-	Code
11	KPConvX-L	73.5	No	KPConvX: Modernizing Kernel Point Convolution wi...	2024-05-21	Code
12	Pamba	73.5	No	Pamba: Enhancing Global Interaction in Point Clo...	2024-06-25	-
13	SPG(PTv2)	73.3	No	Subspace Prototype Guidance for Mitigating Class...	2024-08-20	Code
14	PonderV2 + SparseUNet	73.2	Yes	PonderV2: Pave the Way for 3D Foundation Model w...	2023-10-12	Code
15	PointHR	73.2	No	PointHR: Exploring High-Resolution Architectures...	2023-10-11	Code
16	PPT + SparseUNet	72.7	Yes	Towards Large-scale 3D Representation Learning w...	2023-08-18	Code
17	SAT (FAT)	72.6	No	SAT: Size-Aware Transformer for 3D Point Cloud S...	2023-01-17	-
18	PTv2	72.6	No	Point Transformer V2: Grouped Vector Attention a...	2022-10-11	Code
19	PT + ERDA	72.6	No	-	-	-
20	PointVector-XL	72.3	No	PointVector: A Vector Representation In Point Cl...	2022-05-21	Code
21	WindowNorm+StratifiedTransformer	72.2	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
22	Diffusion Unit	72.2	No	Diffusion Unit: Interpretable Edge Enhancement a...	2022-09-20	Code
23	CSC+MinkUNet	72.2	Yes	Exploring Data-Efficient 3D Scene Understanding ...	2020-12-16	Code
24	StratifiedTransformer	72	No	Stratified Transformer for 3D Point Cloud Segmen...	2022-03-28	Code
25	PointTransformer+CBL	71.6	No	Contrastive Boundary Learning for Point Cloud Se...	2022-03-10	Code
26	WindowNorm+PointTransformer	71.4	No	Window Normalization: Enhancing Point Cloud Unde...	2022-12-05	Code
27	PointMixer	71.4	No	PointMixer: MLP-Mixer for Point Cloud Understand...	2021-11-22	Code
28	PointNeXt	71.1	No	PointNeXt: Revisiting PointNet++ with Improved T...	2022-06-09	Code
29	SPoTr	70.8	No	Self-positioning Point-based Transformer for Poi...	2023-03-29	Code
30	Serialized Piont Mamba	70.6	No	Serialized Point Mamba: A Serialized Point Cloud...	2024-07-17	-
31	PointTransformer	70.4	No	Point Transformer	2020-12-16	Code
32	LCPFormer	70.2	No	LCPFormer: Towards Effective 3D Point Cloud Anal...	2022-10-23	Code
33	GeomGCNN	69.4	No	Exploiting Local Geometry for Feature and Graph ...	2021-03-28	-
34	Superpoint Transformer	68.9	No	Efficient 3D Semantic Segmentation with Superpoi...	2023-06-13	Code
35	RepSurf-U	68.9	No	Surface Representation for Point Clouds	2022-05-11	Code
36	CGA-Net	68.6	No	-	-	Code
37	SuperCluster	68.1	No	Scalable 3D Panoptic Segmentation As Superpoint ...	2024-01-12	Code
38	MKConv	67.7	No	MKConv: Multidimensional Feature Representation ...	2021-07-27	-
39	PatchFormer	67.3	No	PatchFormer: An Efficient Point Transformer with...	2021-10-30	-
40	FusionNet	67.2	No	-	-	-
41	KPConv	67.1	No	KPConv: Flexible and Deformable Convolution for ...	2019-04-18	Code
42	ASSANet	66.8	No	ASSANet: An Anisotropic Separable Set Abstractio...	2021-10-20	Code
43	BAAF-Net	65.4	No	Semantic Segmentation for Real Point Cloud Scene...	2021-03-12	Code
44	MinkowskiNet	65.4	No	4D Spatio-Temporal ConvNets: Minkowski Convoluti...	2019-04-18	Code
45	VMVF	65.38	No	Virtual Multi-view Fusion for 3D Semantic Segmen...	2020-07-26	Code
46	SCF-Net	63.7	No	-	-	Code
47	MuG-Net	63.5	No	Multi-Resolution Graph Neural Network for Large-...	2020-09-18	Code
48	HPEIN	61.85	No	Hierarchical Point-Edge Interaction Network for ...	2019-09-23	-
49	SSP+SPG	61.7	No	Point Cloud Oversegmentation with Graph-Structur...	2019-04-03	Code
50	DPC	61.28	No	Dilated Point Convolutions: On the Receptive Fie...	2019-07-28	Code
51	SPG	58.04	No	Large-scale Point Cloud Semantic Segmentation wi...	2017-11-27	Code
52	PointCNN	57.3	No	Point Transformer	2020-12-16	Code
53	DeepGCN	52.49	No	DeepGCNs: Making GCNs Go as Deep as CNNs	2019-10-15	Code
54	SegCloud	48.9	No	SEGCloud: Semantic Segmentation of 3D Point Clouds	2017-10-20	-
55	PointNet	41.1	No	Point Transformer	2020-12-16	Code

#1Sonata + PTv3SOTA
76
mIoU· Extra Data· 2025-03-20
Sonata: Self-Supervised Learning of Reliable Point Representations Code
#2OmniVecSOTA
75.9
mIoU· Extra Data· 2023-11-07
OmniVec: Learning robust representations with cross modal sharing
#3D-DITR
75
mIoU· Extra Data· 2025-03-24
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation Code
#4PTv3 + PPT
74.7
mIoU· Extra Data· 2023-12-15
Point Transformer V3: Simpler, Faster, Stronger Code
#5Swin3D-LSOTA
74.5
mIoU· Extra Data· 2023-04-14
Swin3D: A Pretrained Transformer Backbone for 3D Indoor Scene Understanding Code
#6DeLA
74.1
mIoU· 2023-08-31
Decoupled Local Aggregation for Point Cloud Learning Code
#7DITR
74.1
mIoU· 2025-03-24
DINO in the Room: Leveraging 2D Foundation Models for 3D Segmentation Code
#8Ours
73.6
mIoU
No paper
#9ConDaFormer
73.5
mIoU· 2023-12-18
ConDaFormer: Disassembled Transformer with Local Structure Enhancement for 3D Point Cloud Understanding Code
#10LPFP(Point Transformer*)
73.5
mIoU
No paperCode
#11KPConvX-L
73.5
mIoU· 2024-05-21
KPConvX: Modernizing Kernel Point Convolution with Kernel Attention Code
#12Pamba
73.5
mIoU· 2024-06-25
Pamba: Enhancing Global Interaction in Point Clouds via State Space Model
#13SPG(PTv2)
73.3
mIoU· 2024-08-20
Subspace Prototype Guidance for Mitigating Class Imbalance in Point Cloud Semantic Segmentation Code
#14PonderV2 + SparseUNet
73.2
mIoU· Extra Data· 2023-10-12
PonderV2: Pave the Way for 3D Foundation Model with A Universal Pre-training Paradigm Code
#15PointHR
73.2
mIoU· 2023-10-11
PointHR: Exploring High-Resolution Architectures for 3D Point Cloud Segmentation Code
#16PPT + SparseUNet
72.7
mIoU· Extra Data· 2023-08-18
Towards Large-scale 3D Representation Learning with Multi-dataset Point Prompt Training Code
#17SAT (FAT)
72.6
mIoU· 2023-01-17
SAT: Size-Aware Transformer for 3D Point Cloud Semantic Segmentation
#18PTv2SOTA
72.6
mIoU· 2022-10-11
Point Transformer V2: Grouped Vector Attention and Partition-based Pooling Code
#19PT + ERDA
72.6
mIoU
No paper
#20PointVector-XLSOTA
72.3
mIoU· 2022-05-21
PointVector: A Vector Representation In Point Cloud Analysis Code
#21WindowNorm+StratifiedTransformer
72.2
mIoU· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#22Diffusion Unit
72.2
mIoU· 2022-09-20
Diffusion Unit: Interpretable Edge Enhancement and Suppression Learning for 3D Point Cloud Segmentation Code
#23CSC+MinkUNetSOTA
72.2
mIoU· Extra Data· 2020-12-16
Exploring Data-Efficient 3D Scene Understanding with Contrastive Scene Contexts Code
#24StratifiedTransformer
72
mIoU· 2022-03-28
Stratified Transformer for 3D Point Cloud Segmentation Code
#25PointTransformer+CBL
71.6
mIoU· 2022-03-10
Contrastive Boundary Learning for Point Cloud Segmentation Code
#26WindowNorm+PointTransformer
71.4
mIoU· 2022-12-05
Window Normalization: Enhancing Point Cloud Understanding by Unifying Inconsistent Point Densities Code
#27PointMixer
71.4
mIoU· 2021-11-22
PointMixer: MLP-Mixer for Point Cloud Understanding Code
#28PointNeXt
71.1
mIoU· 2022-06-09
PointNeXt: Revisiting PointNet++ with Improved Training and Scaling Strategies Code
#29SPoTr
70.8
mIoU· 2023-03-29
Self-positioning Point-based Transformer for Point Cloud Understanding Code
#30Serialized Piont Mamba
70.6
mIoU· 2024-07-17
Serialized Point Mamba: A Serialized Point Cloud Mamba Segmentation Model
#31PointTransformer
70.4
mIoU· 2020-12-16
Point Transformer Code
#32LCPFormer
70.2
mIoU· 2022-10-23
LCPFormer: Towards Effective 3D Point Cloud Analysis via Local Context Propagation in Transformers Code
#33GeomGCNN
69.4
mIoU· 2021-03-28
Exploiting Local Geometry for Feature and Graph Construction for Better 3D Point Cloud Processing with Graph Neural Networks
#34Superpoint Transformer
68.9
mIoU· 2023-06-13
Efficient 3D Semantic Segmentation with Superpoint Transformer Code
#35RepSurf-U
68.9
mIoU· 2022-05-11
Surface Representation for Point Clouds Code
#36CGA-Net
68.6
mIoU
No paperCode
#37SuperCluster
68.1
mIoU· 2024-01-12
Scalable 3D Panoptic Segmentation As Superpoint Graph Clustering Code
#38MKConv
67.7
mIoU· 2021-07-27
MKConv: Multidimensional Feature Representation for Point Cloud Analysis
#39PatchFormer
67.3
mIoU· 2021-10-30
PatchFormer: An Efficient Point Transformer with Patch Attention
#40FusionNet
67.2
mIoU
No paper
#41KPConvSOTA
67.1
mIoU· 2019-04-18
KPConv: Flexible and Deformable Convolution for Point Clouds Code
#42ASSANet
66.8
mIoU· 2021-10-20
ASSANet: An Anisotropic Separable Set Abstraction for Efficient Point Cloud Representation Learning Code
#43BAAF-Net
65.4
mIoU· 2021-03-12
Semantic Segmentation for Real Point Cloud Scenes via Bilateral Augmentation and Adaptive Fusion Code
#44MinkowskiNet
65.4
mIoU· 2019-04-18
4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks Code
#45VMVF
65.38
mIoU· 2020-07-26
Virtual Multi-view Fusion for 3D Semantic Segmentation Code
#46SCF-Net
63.7
mIoU
No paperCode
#47MuG-Net
63.5
mIoU· 2020-09-18
Multi-Resolution Graph Neural Network for Large-Scale Pointcloud Segmentation Code
#48HPEIN
61.85
mIoU· 2019-09-23
Hierarchical Point-Edge Interaction Network for Point Cloud Semantic Segmentation
#49SSP+SPGSOTA
61.7
mIoU· 2019-04-03
Point Cloud Oversegmentation with Graph-Structured Deep Metric Learning Code
#50DPC
61.28
mIoU· 2019-07-28
Dilated Point Convolutions: On the Receptive Field Size of Point Convolutions on 3D Point Clouds Code
#51SPGSOTA
58.04
mIoU· 2017-11-27
Large-scale Point Cloud Semantic Segmentation with Superpoint Graphs Code
#52PointCNN
57.3
mIoU· 2020-12-16
Point Transformer Code
#53DeepGCN
52.49
mIoU· 2019-10-15
DeepGCNs: Making GCNs Go as Deep as CNNs Code
#54SegCloudSOTA
48.9
mIoU· 2017-10-20
SEGCloud: Semantic Segmentation of 3D Point Clouds
#55PointNet
41.1
mIoU· 2020-12-16
Point Transformer Code